void motor_execute_cli_command(int argc, const char* argv[])
{
if (motor_is_running()) {
lowsyslog("Unable to execute CLI command now\n");
return;
}
chMtxLock(&_mutex);
if (argc >= 0 && argv != NULL) {
motor_rtctl_execute_cli_command(argc, argv);
} else {
assert(0);
}
chMtxUnlock();
}
static void cmd_startstop(BaseSequentialStream *chp, int argc, char *argv[])
{
static const int TTL_MS = 5000;
if (argc == 0) {
motor_stop();
puts("Usage:\n"
" startstop <number of cycles> [duty cycle = 0.1]");
return;
}
motor_stop();
const int num_cycles = (int)atoff(argv[0]);
const float dc = (argc > 1) ? atoff(argv[1]) : 0.1;
int current_cycle = 0;
for (; current_cycle < num_cycles; current_cycle++) {
printf("Cycle %d of %d, dc %f...\n", current_cycle + 1, num_cycles, dc);
// Waiting for the motor to spin down
sleep(3);
if (!motor_is_idle()) {
puts("NOT STOPPED");
break;
}
// Starting with the specified duty cycle
motor_set_duty_cycle(dc, TTL_MS);
// Checking if started and stopping
sleep(3);
if (!motor_is_running()) {
puts("NOT RUNNING");
break;
}
motor_stop();
}
printf("Finished %d cycles of %d\n", current_cycle, num_cycles);
}
